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SPA1 commissioning sequence
19
2.4
Servo tuning test
The servo tuning test is used to check the steady state error for the installation
Ensure
button is not depressed and operate the
button on the RENICIS toolbar. Highlight the
"Servo Tuning" step on the list of steps, run the "Servo Tuning" test by clicking the "Go to Step" button.
The dialog box shown in figure 14 will appear:
Figure 14
If a position tolerance, other than the default 100 microns, was required to prevent timeouts during moves
with the uncompensated gain value, enter the same tolerance in edit box provided here. If you know what
your desired steady-state error is then enter that value also.
In the above screen-shot (figure 24), the system bandwidth has been previously determined and saved in
the machine configuration file. The operator has elected to use this value, thus alleviating the requirement
for the system bandwidth part of servo tuning to be run.
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